If the fluid levels/condition are fine, the fan works, etc (there are
six? troubleshooting steps in your Hanyes manual for this problem),
the next step is to read the codes at your local AutoZone or friendly
mechanic.
My car was doing this and I was not able to work through the
troubleshooting steps, but I took it to my mechanic and it turned out
an electronic doohickey had failed, the one that tells the fan to kick
in.
The reason it's 'fine' on the highway is because you're moving fast
enough that you're cooling the engine that way. :)
The electronic doohickey cost me $48 plus $25 labor (I assume it was a
pop in and out of a thing).

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